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<div class="title">color_gradient_modality.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved. </span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_COLOR_GRADIENT_MODALITY</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_COLOR_GRADIENT_MODALITY</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/quantizable_modality.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/point_types.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/convolution.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html">   58</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_color_gradient_modality.html">ColorGradientModality</a></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_quantizable_modality.html">QuantizableModality</a>, <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html">   65</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html">Candidate</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      {</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a70c8edf2855578b5634ace2888e3f2b8">   68</a></span>&#160;        <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> <a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a70c8edf2855578b5634ace2888e3f2b8">gradient</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a6edd951fd511a4641503ac1190312631">   71</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a6edd951fd511a4641503ac1190312631">x</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a5cdf6060aead3a3267e5d5e2001b1e30">   73</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a5cdf6060aead3a3267e5d5e2001b1e30">y</a>;  </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a7547904d27ee0b7a0e9f242b37d73148">   78</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a7547904d27ee0b7a0e9f242b37d73148">operator&lt; </a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html">Candidate</a> &amp; rhs)<span class="keyword"> const</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a70c8edf2855578b5634ace2888e3f2b8">gradient</a>.magnitude &gt; rhs.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a70c8edf2855578b5634ace2888e3f2b8">gradient</a>.magnitude);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> PointCloudIn;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">   88</a></span>&#160;      <span class="keyword">enum</span> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">FeatureSelectionMethod</a></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        MASK_BORDER_HIGH_GRADIENTS,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        MASK_BORDER_EQUALLY, <span class="comment">// this gives templates most equally to the OpenCV implementation</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        DISTANCE_MAGNITUDE_SCORE</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      };</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#ab3ae6e4b6753cbbc161b4718f62db3e6">   96</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#ab3ae6e4b6753cbbc161b4718f62db3e6">ColorGradientModality</a> ();</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a92e6f7f11e4156b904c28c63f62105aa">   98</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a92e6f7f11e4156b904c28c63f62105aa">~ColorGradientModality</a> ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#afc82fc7d4197f93b02cd4d88576808cb">  105</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#afc82fc7d4197f93b02cd4d88576808cb">setGradientMagnitudeThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#aff83039db2c49d7ba2e4a28519aec433">gradient_magnitude_threshold_</a> = threshold;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a1fbe75808a0a100d2246341dd8aa7efc">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a1fbe75808a0a100d2246341dd8aa7efc">setGradientMagnitudeThresholdForFeatureExtraction</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> threshold)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">gradient_magnitude_threshold_feature_extraction_</a> = threshold;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a5be63ae9d79f7b659be40ef3ca3c564d">  124</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a5be63ae9d79f7b659be40ef3ca3c564d">setFeatureSelectionMethod</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">FeatureSelectionMethod</a> method)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">feature_selection_method_</a> = method;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#abce78cf90b93d706b8f558ccd8ca43c2">  131</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#abce78cf90b93d706b8f558ccd8ca43c2">setSpreadingSize</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> spreading_size)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3fa30ab2cabed142a2e625dd9fc22f97">spreading_size_</a> = spreading_size;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a3378a2de1166930c2768ae433f7c82fa">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3378a2de1166930c2768ae433f7c82fa">setVariableFeatureNr</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> enabled)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#ad5084fb7048c6888856b918a8ab2e7a9">variable_feature_nr_</a> = enabled;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;</div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#acf7fdf618931946d67864ee04c9fe259">  147</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#acf7fdf618931946d67864ee04c9fe259">getQuantizedMap</a> () </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      { </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a>);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;</div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a8dcf287d2f0fe3f032b59502ea881816">  154</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a8dcf287d2f0fe3f032b59502ea881816">getSpreadedQuantizedMap</a> () </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      { </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_color_gradient_modality.html#a9fb0dbf985fe4d09839f3bf7cd777fdb">spreaded_filtered_quantized_color_gradients_</a>);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::GradientXY&gt;</a> &amp;</div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a08a59b078f61a95e1b70e4465e462f16">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a08a59b078f61a95e1b70e4465e462f16">getMaxColorGradients</a> ()</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a8620b1c71fd7578c74ff9cae170cad15">  174</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a8620b1c71fd7578c74ff9cae170cad15">extractFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, <span class="keywordtype">size_t</span> nr_features, <span class="keywordtype">size_t</span> modalityIndex,</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                       std::vector&lt;QuantizedMultiModFeature&gt; &amp; features) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#af2dc6fed79dee651b61ac5481050d9e9">  184</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#af2dc6fed79dee651b61ac5481050d9e9">extractAllFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, <span class="keywordtype">size_t</span> nr_features, <span class="keywordtype">size_t</span> modalityIndex,</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                          std::vector&lt;QuantizedMultiModFeature&gt; &amp; features) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a1d07cf0a0d8f951d2466e3adf86fd68b">  191</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a1d07cf0a0d8f951d2466e3adf86fd68b">setInputCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr &amp; cloud) </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      { </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a742f19ce8a6ae5401a4eb5351a9f54aa">  198</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a742f19ce8a6ae5401a4eb5351a9f54aa">processInputData</a> ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a6fa2e81e46431999e048d1da6716515f">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a6fa2e81e46431999e048d1da6716515f">processInputDataFromFiltered</a> ();</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a80d5a47569d0ee40c39c0e7dd0becbcb">  212</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a80d5a47569d0ee40c39c0e7dd0becbcb">computeGaussianKernel</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> kernel_size, <span class="keyword">const</span> <span class="keywordtype">float</span> sigma, std::vector &lt;float&gt; &amp; kernel_values);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a4fb9324525a015909522d5f9303381ac">  218</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a4fb9324525a015909522d5f9303381ac">computeMaxColorGradients</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::RGB&gt;::ConstPtr &amp; cloud);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a2ae9ed70d01fc772dbab539fe53231a2">  224</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a2ae9ed70d01fc772dbab539fe53231a2">computeMaxColorGradientsSobel</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::RGB&gt;::ConstPtr &amp; cloud);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#aa708e54642e7f6e6081ac1f55b5e626a">  228</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#aa708e54642e7f6e6081ac1f55b5e626a">quantizeColorGradients</a> ();</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a07328b89a5240cb76a7a737039072186">  232</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a07328b89a5240cb76a7a737039072186">filterQuantizedColorGradients</a> ();</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">  239</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">erode</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">pcl::MaskMap</a> &amp; mask_in, <a class="code" href="classpcl_1_1_mask_map.html">pcl::MaskMap</a> &amp; mask_out);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#ad5084fb7048c6888856b918a8ab2e7a9">  244</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_color_gradient_modality.html#ad5084fb7048c6888856b918a8ab2e7a9">variable_feature_nr_</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a52eee3d1e120fad88f4a7b1614ffd6ee">  247</a></span>&#160;        pcl::PointCloud&lt;pcl::RGB&gt;::Ptr <a class="code" href="classpcl_1_1_color_gradient_modality.html#a52eee3d1e120fad88f4a7b1614ffd6ee">smoothed_input_</a>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">  250</a></span>&#160;      <a class="code" href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">FeatureSelectionMethod</a> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">feature_selection_method_</a>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#aff83039db2c49d7ba2e4a28519aec433">  253</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_color_gradient_modality.html#aff83039db2c49d7ba2e4a28519aec433">gradient_magnitude_threshold_</a>;</div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">  255</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">gradient_magnitude_threshold_feature_extraction_</a>;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">  258</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::GradientXY&gt;</a> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a>;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a3fa30ab2cabed142a2e625dd9fc22f97">  261</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3fa30ab2cabed142a2e625dd9fc22f97">spreading_size_</a>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  </div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a04ea169328948649471bb07fac02e2dc">  264</a></span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a04ea169328948649471bb07fac02e2dc">quantized_color_gradients_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">  266</a></span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a>;</div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a9fb0dbf985fe4d09839f3bf7cd777fdb">  268</a></span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a9fb0dbf985fe4d09839f3bf7cd777fdb">spreaded_filtered_quantized_color_gradients_</a>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  };</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;}</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00276"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#ab3ae6e4b6753cbbc161b4718f62db3e6">  276</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#ab3ae6e4b6753cbbc161b4718f62db3e6">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#ab3ae6e4b6753cbbc161b4718f62db3e6">ColorGradientModality</a> ()</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  : variable_feature_nr_ (false)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  , smoothed_input_ (new pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;pcl::<a class="code" href="structpcl_1_1_r_g_b.html">RGB</a>&gt; ())</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  , feature_selection_method_ (DISTANCE_MAGNITUDE_SCORE)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  , gradient_magnitude_threshold_ (10.0f)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  , gradient_magnitude_threshold_feature_extraction_ (55.0f)</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  , color_gradients_ ()</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  , spreading_size_ (8)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  , quantized_color_gradients_ ()</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  , filtered_quantized_color_gradients_ ()</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  , spreaded_filtered_quantized_color_gradients_ ()</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;{</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;}</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a92e6f7f11e4156b904c28c63f62105aa">  293</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a92e6f7f11e4156b904c28c63f62105aa">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a92e6f7f11e4156b904c28c63f62105aa">~ColorGradientModality</a> ()</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;{</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;}</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a80d5a47569d0ee40c39c0e7dd0becbcb">  300</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a80d5a47569d0ee40c39c0e7dd0becbcb">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a80d5a47569d0ee40c39c0e7dd0becbcb">computeGaussianKernel</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> kernel_size, <span class="keyword">const</span> <span class="keywordtype">float</span> sigma, std::vector &lt;float&gt; &amp; kernel_values)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;{</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="comment">// code taken from OpenCV</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> n = int (kernel_size);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> SMALL_GAUSSIAN_SIZE = 7;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> small_gaussian_tab[][SMALL_GAUSSIAN_SIZE] =</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      {1.f},</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      {0.25f, 0.5f, 0.25f},</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      {0.0625f, 0.25f, 0.375f, 0.25f, 0.0625f},</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      {0.03125f, 0.109375f, 0.21875f, 0.28125f, 0.21875f, 0.109375f, 0.03125f}</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  };</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span>* fixed_kernel = n % 2 == 1 &amp;&amp; n &lt;= SMALL_GAUSSIAN_SIZE &amp;&amp; sigma &lt;= 0 ?</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      small_gaussian_tab[n&gt;&gt;1] : 0;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="comment">//CV_Assert( ktype == CV_32F || ktype == CV_64F );</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="comment">/*Mat kernel(n, 1, ktype);*/</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  kernel_values.resize (n);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keywordtype">float</span>* cf = &amp;(kernel_values[0]);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="comment">//double* cd = (double*)kernel.data;</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keywordtype">double</span> sigmaX = sigma &gt; 0 ? sigma : ((n-1)*0.5 - 1)*0.3 + 0.8;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keywordtype">double</span> scale2X = -0.5/(sigmaX*sigmaX);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keywordtype">double</span> sum = 0;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keywordtype">int</span> i;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="keywordflow">for</span>( i = 0; i &lt; n; i++ )</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keywordtype">double</span> x = i - (n-1)*0.5;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keywordtype">double</span> t = fixed_kernel ? double (fixed_kernel[i]) : std::exp (scale2X*x*x);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    cf[i] = float (t);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    sum += cf[i];</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  sum = 1./sum;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="keywordflow">for</span> (i = 0; i &lt; n; i++ )</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    cf[i] = float (cf[i]*sum);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;}</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a742f19ce8a6ae5401a4eb5351a9f54aa">  347</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a742f19ce8a6ae5401a4eb5351a9f54aa">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a742f19ce8a6ae5401a4eb5351a9f54aa">processInputData</a> ()</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;{</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="comment">// compute gaussian kernel values</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> kernel_size = 7;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  std::vector&lt;float&gt; kernel_values;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  computeGaussianKernel (kernel_size, 0.0f, kernel_values);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="comment">// smooth input</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <a class="code" href="classpcl_1_1filters_1_1_convolution.html">pcl::filters::Convolution&lt;pcl::RGB, pcl::RGB&gt;</a> convolution;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    Eigen::ArrayXf gaussian_kernel(kernel_size);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    <span class="comment">//gaussian_kernel &lt;&lt; 1.f/16, 1.f/8, 3.f/16, 2.f/8, 3.f/16, 1.f/8, 1.f/16;</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="comment">//gaussian_kernel &lt;&lt; 16.f/1600.f,  32.f/1600.f,  64.f/1600.f, 128.f/1600.f, 256.f/1600.f, 128.f/1600.f,  64.f/1600.f,  32.f/1600.f,  16.f/1600.f;</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  gaussian_kernel &lt;&lt; kernel_values[0], kernel_values[1], kernel_values[2], kernel_values[3], kernel_values[4], kernel_values[5], kernel_values[6];</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  pcl::PointCloud&lt;pcl::RGB&gt;::Ptr rgb_input_ (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a>());</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  <span class="keyword">const</span> uint32_t width = input_-&gt;width;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keyword">const</span> uint32_t height = input_-&gt;height;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  rgb_input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (width*height);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  rgb_input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = width;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  rgb_input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = height;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  rgb_input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    {</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      (*rgb_input_) (col_index, row_index).r = (*input_) (col_index, row_index).r;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      (*rgb_input_) (col_index, row_index).g = (*input_) (col_index, row_index).g;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      (*rgb_input_) (col_index, row_index).b = (*input_) (col_index, row_index).b;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    convolution.<a class="code" href="classpcl_1_1filters_1_1_convolution.html#a16fbbdf38948fed054d2b8b6514ef42d">setInputCloud</a> (rgb_input_);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    convolution.<a class="code" href="classpcl_1_1filters_1_1_convolution.html#acd355932b0334275e14ee26a248c15c4">setKernel</a> (gaussian_kernel);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  convolution.<a class="code" href="classpcl_1_1filters_1_1_convolution.html#aa517e36975cab3ef6dc048552449d1e2">convolve</a> (*smoothed_input_);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="comment">// extract color gradients</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  computeMaxColorGradientsSobel (smoothed_input_);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="comment">// quantize gradients</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  quantizeColorGradients ();</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="comment">// filter quantized gradients to get only dominants one + thresholding</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  filterQuantizedColorGradients ();</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="comment">// spread filtered quantized gradients</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="comment">//spreadFilteredQunatizedColorGradients ();</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  pcl::QuantizedMap::spreadQuantizedMap (filtered_quantized_color_gradients_,</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;                                         spreaded_filtered_quantized_color_gradients_, </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;                                         spreading_size_);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;}</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00405"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a6fa2e81e46431999e048d1da6716515f">  405</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a6fa2e81e46431999e048d1da6716515f">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a6fa2e81e46431999e048d1da6716515f">processInputDataFromFiltered</a> ()</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;{</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  <span class="comment">// spread filtered quantized gradients</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <span class="comment">//spreadFilteredQunatizedColorGradients ();</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  pcl::QuantizedMap::spreadQuantizedMap (filtered_quantized_color_gradients_,</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;                                         spreaded_filtered_quantized_color_gradients_, </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;                                         spreading_size_);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;}</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00417"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a8620b1c71fd7578c74ff9cae170cad15">  417</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_color_gradient_modality.html#a8620b1c71fd7578c74ff9cae170cad15">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a8620b1c71fd7578c74ff9cae170cad15">extractFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_features, <span class="keyword">const</span> <span class="keywordtype">size_t</span> modality_index,</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;                 std::vector&lt;QuantizedMultiModFeature&gt; &amp; features)<span class="keyword"> const</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="keywordflow">if</span> (feature_selection_method_ == DISTANCE_MAGNITUDE_SCORE)</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  {</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      {</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> &amp; gradient = color_gradients_ (col_index, row_index);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;          <span class="keywordflow">if</span> (gradient.magnitude &gt; gradient_magnitude_threshold_feature_extraction_</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;            &amp;&amp; filtered_quantized_color_gradients_ (col_index, row_index) != 0)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;          {</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;            <a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html">Candidate</a> candidate;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;            candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a70c8edf2855578b5634ace2888e3f2b8">gradient</a> = gradient;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;            candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a6edd951fd511a4641503ac1190312631">x</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;            candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a5cdf6060aead3a3267e5d5e2001b1e30">y</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;          }</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        }</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    }</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    list1.sort();</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    <span class="keywordflow">if</span> (variable_feature_nr_)</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    {</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      list2.push_back (*(list1.begin ()));</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      <span class="comment">//while (list2.size () != nr_features)</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      <span class="keywordtype">bool</span> feature_selection_finished = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      <span class="keywordflow">while</span> (!feature_selection_finished)</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        <span class="keywordtype">float</span> best_score = 0.0f;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        <span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator best_iter = list1.end ();</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        {</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;          <span class="comment">// find smallest distance</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;          <span class="keywordtype">float</span> smallest_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          {</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;            <span class="keywordflow">if</span> (distance &lt; smallest_distance)</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;            {</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;              smallest_distance = distance;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;            }</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;          }</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> score = smallest_distance * iter1-&gt;gradient.magnitude;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;          <span class="keywordflow">if</span> (score &gt; best_score)</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;          {</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            best_score = score;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;            best_iter = iter1;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;          }</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        }</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        <span class="keywordtype">float</span> min_min_sqr_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordtype">float</span> max_min_sqr_distance = 0;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        {</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;          <span class="keywordtype">float</span> min_sqr_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter3 = list2.begin (); iter3 != list2.end (); ++iter3)</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;          {</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;            <span class="keywordflow">if</span> (iter2 == iter3)</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;              <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter3-&gt;x);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter3-&gt;y);</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;            <span class="keywordflow">if</span> (sqr_distance &lt; min_sqr_distance)</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            {</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;              min_sqr_distance = sqr_distance;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;            }</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;            <span class="comment">//std::cerr &lt;&lt; min_sqr_distance;</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;          }</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;          <span class="comment">//std::cerr &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;          <span class="comment">// check current feature</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;          {</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (best_iter-&gt;x);</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (best_iter-&gt;y);</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;            <span class="keywordflow">if</span> (sqr_distance &lt; min_sqr_distance)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;            {</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;              min_sqr_distance = sqr_distance;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;            }</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;          }</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;          <span class="keywordflow">if</span> (min_sqr_distance &lt; min_min_sqr_distance)</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;            min_min_sqr_distance = min_sqr_distance;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;          <span class="keywordflow">if</span> (min_sqr_distance &gt; max_min_sqr_distance)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;            max_min_sqr_distance = min_sqr_distance;</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;          <span class="comment">//std::cerr &lt;&lt; min_sqr_distance &lt;&lt; &quot;, &quot; &lt;&lt; min_min_sqr_distance &lt;&lt; &quot;, &quot; &lt;&lt; max_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;        }</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        <span class="keywordflow">if</span> (best_iter != list1.end ())</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        {</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;feature_index: &quot; &lt;&lt; list2.size () &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;min_min_sqr_distance: &quot; &lt;&lt; min_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;max_min_sqr_distance: &quot; &lt;&lt; max_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;          <span class="keywordflow">if</span> (min_min_sqr_distance &lt; 50)</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;          {</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;            feature_selection_finished = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;          }</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;          list2.push_back (*best_iter);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        }</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      } </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    }</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;    {</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      <span class="keywordflow">if</span> (list1.size () &lt;= nr_features)</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      {</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        {</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;          </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;          feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = iter1-&gt;x;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;          feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = iter1-&gt;y;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;          feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;          feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_color_gradients_ (iter1-&gt;x, iter1-&gt;y);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;          features.push_back (feature);</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        }</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      }</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      list2.push_back (*(list1.begin ()));</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      <span class="keywordflow">while</span> (list2.size () != nr_features)</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      {</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;        <span class="keywordtype">float</span> best_score = 0.0f;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        <span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator best_iter = list1.end ();</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;        {</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;          <span class="comment">// find smallest distance</span></div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;          <span class="keywordtype">float</span> smallest_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;          {</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; </div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;            <span class="keywordflow">if</span> (distance &lt; smallest_distance)</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;            {</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;              smallest_distance = distance;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;            }</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;          }</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160; </div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> score = smallest_distance * iter1-&gt;gradient.magnitude;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;          <span class="keywordflow">if</span> (score &gt; best_score)</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;          {</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;            best_score = score;</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;            best_iter = iter1;</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;          }</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;        }</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160; </div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;        <span class="keywordflow">if</span> (best_iter != list1.end ())</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;        {</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;          list2.push_back (*best_iter);</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;        }</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;        {</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;        }</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;      }  </div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;    }</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  }</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (feature_selection_method_ == MASK_BORDER_HIGH_GRADIENTS || feature_selection_method_ == MASK_BORDER_EQUALLY)</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  {</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;    <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> eroded_mask;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;    erode (mask, eroded_mask);</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> diff_mask;</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    MaskMap::getDifferenceMask (mask, eroded_mask, diff_mask);</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160; </div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;    {</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;      {</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;        <span class="keywordflow">if</span> (diff_mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;        {</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> &amp; gradient = color_gradients_ (col_index, row_index);</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;          <span class="keywordflow">if</span> ((feature_selection_method_ == MASK_BORDER_EQUALLY || gradient.magnitude &gt; gradient_magnitude_threshold_feature_extraction_)</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;            &amp;&amp; filtered_quantized_color_gradients_ (col_index, row_index) != 0)</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;          {</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;            <a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html">Candidate</a> candidate;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;            candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a70c8edf2855578b5634ace2888e3f2b8">gradient</a> = gradient;</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;            candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a6edd951fd511a4641503ac1190312631">x</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;            candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a5cdf6060aead3a3267e5d5e2001b1e30">y</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160; </div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;          }</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;        }</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;      }</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    }</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160; </div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    list1.sort();</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160; </div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    <span class="keywordflow">if</span> (list1.size () &lt;= nr_features)</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    {</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;      {</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;        <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;          </div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = iter1-&gt;x;</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;        feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = iter1-&gt;y;</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;        feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_color_gradients_ (iter1-&gt;x, iter1-&gt;y);</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160; </div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;        features.push_back (feature);</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      }</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    }</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160; </div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    <span class="keywordtype">size_t</span> distance = list1.size () / nr_features + 1; <span class="comment">// ??? </span></div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    <span class="keywordflow">while</span> (list2.size () != nr_features)</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    {</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> sqr_distance = distance*distance;</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;      {</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;        <span class="keywordtype">bool</span> candidate_accepted = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;        {</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dx = iter1-&gt;x - iter2-&gt;x;</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dy = iter1-&gt;y - iter2-&gt;y;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tmp_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;          <span class="comment">//if (tmp_distance &lt; distance) </span></div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;          <span class="keywordflow">if</span> (tmp_distance &lt; sqr_distance)</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;          {</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;            candidate_accepted = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;          }</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;        }</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160; </div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;        <span class="keywordflow">if</span> (candidate_accepted)</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;          list2.push_back (*iter1);</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160; </div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;        <span class="keywordflow">if</span> (list2.size () == nr_features)</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;      }</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;      --distance;</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    }</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  }</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160; </div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;  {</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    </div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = iter2-&gt;x;</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = iter2-&gt;y;</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_color_gradients_ (iter2-&gt;x, iter2-&gt;y);</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160; </div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  }</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;}</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160; </div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00704"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#af2dc6fed79dee651b61ac5481050d9e9">  704</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#af2dc6fed79dee651b61ac5481050d9e9">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#af2dc6fed79dee651b61ac5481050d9e9">extractAllFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, <span class="keyword">const</span> <span class="keywordtype">size_t</span>, <span class="keyword">const</span> <span class="keywordtype">size_t</span> modality_index,</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;                 std::vector&lt;QuantizedMultiModFeature&gt; &amp; features)<span class="keyword"> const</span></div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  </div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160; </div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  {</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;    {</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;      {</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> &amp; gradient = color_gradients_ (col_index, row_index);</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;        <span class="keywordflow">if</span> (gradient.magnitude &gt; gradient_magnitude_threshold_feature_extraction_</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;          &amp;&amp; filtered_quantized_color_gradients_ (col_index, row_index) != 0)</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;        {</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;          <a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html">Candidate</a> candidate;</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;          candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a70c8edf2855578b5634ace2888e3f2b8">gradient</a> = gradient;</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;          candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a6edd951fd511a4641503ac1190312631">x</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;          candidate.<a class="code" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a5cdf6060aead3a3267e5d5e2001b1e30">y</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160; </div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;          list1.push_back (candidate);</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;        }</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;      }</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;    }</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;  }</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160; </div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  list1.sort();</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160; </div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  {</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;          </div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = iter1-&gt;x;</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = iter1-&gt;y;</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_color_gradients_ (iter1-&gt;x, iter1-&gt;y);</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160; </div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;  }</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;}</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160; </div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00754"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a4fb9324525a015909522d5f9303381ac">  754</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a4fb9324525a015909522d5f9303381ac">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a4fb9324525a015909522d5f9303381ac">computeMaxColorGradients</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::RGB&gt;::ConstPtr &amp; cloud)</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;{</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160; </div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  color_gradients_.points.resize (width*height);</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  color_gradients_.width = width;</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  color_gradients_.height = height;</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> pi = tan (1.0f) * 2;</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 0; row_index &lt; height-2; ++row_index)</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;  {</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 0; col_index &lt; width-2; ++col_index)</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    {</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index0 = row_index*width+col_index;</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index_c = row_index*width+col_index+2;</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index_r = (row_index+2)*width+col_index;</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160; </div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;      <span class="comment">//const int index_d = (row_index+1)*width+col_index+1;</span></div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160; </div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r0 = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index0].r;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g0 = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index0].g;</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b0 = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index0].b;</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160; </div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r_c = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index_c].r;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g_c = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index_c].g;</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b_c = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index_c].b;</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160; </div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r_r = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index_r].r;</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g_r = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index_r].g;</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b_r = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index_r].b;</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160; </div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> r_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r0);</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> g_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g0);</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> b_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b0);</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160; </div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> r_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r0);</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> g_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g0);</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> b_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b0);</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160; </div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_r = r_dx*r_dx + r_dy*r_dy;</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_g = g_dx*g_dx + g_dy*g_dy;</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_b = b_dx*b_dx + b_dy*b_dy;</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160; </div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;      <span class="keywordflow">if</span> (sqr_mag_r &gt; sqr_mag_g &amp;&amp; sqr_mag_r &gt; sqr_mag_b)</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      {</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> gradient;</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;        gradient.magnitude = sqrt (sqr_mag_r);</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        gradient.angle = atan2 (r_dy, r_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160; </div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        color_gradients_ (col_index+1, row_index+1) = gradient;</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;      }</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sqr_mag_g &gt; sqr_mag_b)</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;      {</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;        <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> gradient;</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        gradient.magnitude = sqrt (sqr_mag_g);</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        gradient.angle = atan2 (g_dy, g_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160; </div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;        color_gradients_ (col_index+1, row_index+1) = gradient;</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;      }</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;      {</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;        <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> gradient;</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;        gradient.magnitude = sqrt (sqr_mag_b);</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;        gradient.angle = atan2 (b_dy, b_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160; </div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;        color_gradients_ (col_index+1, row_index+1) = gradient;</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;      }</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160; </div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;      assert (color_gradients_ (col_index+1, row_index+1).angle &gt;= -180 &amp;&amp;</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;              color_gradients_ (col_index+1, row_index+1).angle &lt;=  180);</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    }</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;  }</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160; </div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;}</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160; </div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00841"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a2ae9ed70d01fc772dbab539fe53231a2">  841</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a2ae9ed70d01fc772dbab539fe53231a2">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a2ae9ed70d01fc772dbab539fe53231a2">computeMaxColorGradientsSobel</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::RGB&gt;::ConstPtr &amp; cloud)</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;{</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160; </div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;  color_gradients_.points.resize (width*height);</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;  color_gradients_.width = width;</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  color_gradients_.height = height;</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160; </div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> pi = tanf (1.0f) * 2.0f;</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 1; row_index &lt; height-1; ++row_index)</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;  {</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 1; col_index &lt; width-1; ++col_index)</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;    {</div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r7 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index-1)].r);</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g7 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index-1)].g);</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b7 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index-1)].b);</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r8 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index)].r);</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g8 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index)].g);</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b8 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index)].b);</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r9 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index+1)].r);</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g9 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index+1)].g);</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b9 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index-1)*width + (col_index+1)].b);</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r4 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index)*width + (col_index-1)].r);</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g4 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index)*width + (col_index-1)].g);</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b4 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index)*width + (col_index-1)].b);</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r6 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index)*width + (col_index+1)].r);</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g6 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index)*width + (col_index+1)].g);</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b6 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index)*width + (col_index+1)].b);</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index-1)].r);</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index-1)].g);</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index-1)].b);</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index)].r);</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index)].g);</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index)].b);</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index+1)].r);</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index+1)].g);</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(row_index+1)*width + (col_index+1)].b);</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160; </div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;      <span class="comment">//const int r_tmp1 = - r7 + r3;</span></div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;      <span class="comment">//const int r_tmp2 = - r1 + r9;</span></div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;      <span class="comment">//const int g_tmp1 = - g7 + g3;</span></div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;      <span class="comment">//const int g_tmp2 = - g1 + g9;</span></div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;      <span class="comment">//const int b_tmp1 = - b7 + b3;</span></div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;      <span class="comment">//const int b_tmp2 = - b1 + b9;</span></div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;<span class="comment"></span>      <span class="comment">//const int r_dx = r_tmp1 + r_tmp2 - (r4&lt;&lt;2) + (r6&lt;&lt;2);</span></div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;      <span class="comment">//const int r_dy = r_tmp1 - r_tmp2 - (r8&lt;&lt;2) + (r2&lt;&lt;2);</span></div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;      <span class="comment">//const int g_dx = g_tmp1 + g_tmp2 - (g4&lt;&lt;2) + (g6&lt;&lt;2);</span></div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;      <span class="comment">//const int g_dy = g_tmp1 - g_tmp2 - (g8&lt;&lt;2) + (g2&lt;&lt;2);</span></div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;      <span class="comment">//const int b_dx = b_tmp1 + b_tmp2 - (b4&lt;&lt;2) + (b6&lt;&lt;2);</span></div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;      <span class="comment">//const int b_dy = b_tmp1 - b_tmp2 - (b8&lt;&lt;2) + (b2&lt;&lt;2);</span></div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160; </div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;      <span class="comment">//const int r_tmp1 = - r7 + r3;</span></div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;      <span class="comment">//const int r_tmp2 = - r1 + r9;</span></div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;      <span class="comment">//const int g_tmp1 = - g7 + g3;</span></div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;      <span class="comment">//const int g_tmp2 = - g1 + g9;</span></div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;      <span class="comment">//const int b_tmp1 = - b7 + b3;</span></div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;      <span class="comment">//const int b_tmp2 = - b1 + b9;</span></div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;      <span class="comment">//const int gx = - r7 - (r4&lt;&lt;2) - r1 + r3 + (r6&lt;&lt;2) + r9;</span></div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;      <span class="comment">//const int gy = - r7 - (r8&lt;&lt;2) - r9 + r1 + (r2&lt;&lt;2) + r3;</span></div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r_dx = r9 + 2*r6 + r3 - (r7 + 2*r4 + r1);</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r_dy = r1 + 2*r2 + r3 - (r7 + 2*r8 + r9);</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g_dx = g9 + 2*g6 + g3 - (g7 + 2*g4 + g1);</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g_dy = g1 + 2*g2 + g3 - (g7 + 2*g8 + g9);</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b_dx = b9 + 2*b6 + b3 - (b7 + 2*b4 + b1);</div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b_dy = b1 + 2*b2 + b3 - (b7 + 2*b8 + b9);</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160; </div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_mag_r = r_dx*r_dx + r_dy*r_dy;</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_mag_g = g_dx*g_dx + g_dy*g_dy;</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_mag_b = b_dx*b_dx + b_dy*b_dy;</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160; </div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;      <span class="keywordflow">if</span> (sqr_mag_r &gt; sqr_mag_g &amp;&amp; sqr_mag_r &gt; sqr_mag_b)</div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;      {</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;        <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> gradient;</div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;        gradient.magnitude = std::sqrt (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sqr_mag_r));</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;        gradient.angle = atan2f (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_dy), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_dx)) * 180.0f / pi;</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &lt; -180.0f) gradient.angle += 360.0f;</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &gt;= 180.0f) gradient.angle -= 360.0f;</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160; </div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;        color_gradients_ (col_index, row_index) = gradient;</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;      }</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sqr_mag_g &gt; sqr_mag_b)</div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;      {</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;        <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> gradient;</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;        gradient.magnitude = std::sqrt (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sqr_mag_g));</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;        gradient.angle = atan2f (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_dy), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_dx)) * 180.0f / pi;</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &lt; -180.0f) gradient.angle += 360.0f;</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &gt;= 180.0f) gradient.angle -= 360.0f;</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160; </div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;        color_gradients_ (col_index, row_index) = gradient;</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;      }</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;      {</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;        <a class="code" href="structpcl_1_1_gradient_x_y.html">GradientXY</a> gradient;</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;        gradient.magnitude = std::sqrt (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sqr_mag_b));</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;        gradient.angle = atan2f (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_dy), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_dx)) * 180.0f / pi;</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &lt; -180.0f) gradient.angle += 360.0f;</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &gt;= 180.0f) gradient.angle -= 360.0f;</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160; </div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;        color_gradients_ (col_index, row_index) = gradient;</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;      }</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160; </div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;      assert (color_gradients_ (col_index, row_index).angle &gt;= -180 &amp;&amp;</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;              color_gradients_ (col_index, row_index).angle &lt;=  180);</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;    }</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;  }</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160; </div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;}</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160; </div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00963"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#aa708e54642e7f6e6081ac1f55b5e626a">  963</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#aa708e54642e7f6e6081ac1f55b5e626a">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#aa708e54642e7f6e6081ac1f55b5e626a">quantizeColorGradients</a> ()</div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;{</div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;  <span class="comment">//std::cerr &lt;&lt; &quot;quantize this, bastard!!!&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160; </div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;  <span class="comment">//unsigned char quantization_map[16] = {0,1,2,3,4,5,6,7,0,1,2,3,4,5,6,7};</span></div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;  <span class="comment">//unsigned char quantization_map[16] = {1,2,3,4,5,6,7,8,1,2,3,4,5,6,7,8};</span></div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160; </div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;  <span class="comment">//for (float angle = 0.0f; angle &lt; 360.0f; angle += 1.0f)</span></div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;  <span class="comment">//  const int quantized_value = quantization_map[static_cast&lt;int&gt; (angle * angleScale)];</span></div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;  <span class="comment">//  std::cerr &lt;&lt; angle &lt;&lt; &quot;: &quot; &lt;&lt; quantized_value &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160; </div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160; </div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input_-&gt;width;</div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input_-&gt;height;</div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160; </div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;  quantized_color_gradients_.resize (width, height);</div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160; </div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> angleScale = 16.0f/360.0f;</div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160; </div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;  <span class="comment">//float min_angle = std::numeric_limits&lt;float&gt;::max ();</span></div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;  <span class="comment">//float max_angle = -std::numeric_limits&lt;float&gt;::max ();</span></div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;  {</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;    {</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;      <span class="keywordflow">if</span> (color_gradients_ (col_index, row_index).magnitude &lt; gradient_magnitude_threshold_) </div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;      {</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;        quantized_color_gradients_ (col_index, row_index) = 0;</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;      }</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160; </div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> angle = 11.25f + color_gradients_ (col_index, row_index).angle + 180.0f;</div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> quantized_value = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (angle * angleScale)) &amp; 7;</div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;      quantized_color_gradients_ (col_index, row_index) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (quantized_value + 1); </div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160; </div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;      <span class="comment">//const float angle = color_gradients_ (col_index, row_index).angle + 180.0f;</span></div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160; </div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;      <span class="comment">//min_angle = std::min (min_angle, angle);</span></div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;      <span class="comment">//max_angle = std::max (max_angle, angle);</span></div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160; </div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;      <span class="comment">//if (angle &lt; 0.0f || angle &gt;= 360.0f)</span></div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;      <span class="comment">//{</span></div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;      <span class="comment">//  std::cerr &lt;&lt; &quot;angle shitty: &quot; &lt;&lt; angle &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160; </div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;      <span class="comment">//const int quantized_value = quantization_map[static_cast&lt;int&gt; (angle * angleScale)];</span></div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;      <span class="comment">//quantized_color_gradients_ (col_index, row_index) = static_cast&lt;unsigned char&gt; (quantized_value); </span></div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160; </div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;      <span class="comment">//assert (0 &lt;= quantized_value &amp;&amp; quantized_value &lt; 16);</span></div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;      <span class="comment">//quantized_color_gradients_ (col_index, row_index) = quantization_map[quantized_value];</span></div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;      <span class="comment">//quantized_color_gradients_ (col_index, row_index) = static_cast&lt;unsigned char&gt; ((quantized_value &amp; 7) + 1); // = (quantized_value % 8) + 1</span></div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;    }</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;  }</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160; </div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;  <span class="comment">//std::cerr &lt;&lt; &quot;&gt;&gt;&gt;&gt;&gt; &quot; &lt;&lt; min_angle &lt;&lt; &quot;, &quot; &lt;&lt; max_angle &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;}</div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160; </div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l01026"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a07328b89a5240cb76a7a737039072186"> 1026</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a07328b89a5240cb76a7a737039072186">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a07328b89a5240cb76a7a737039072186">filterQuantizedColorGradients</a> ()</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;{</div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input_-&gt;width;</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input_-&gt;height;</div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160; </div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;  filtered_quantized_color_gradients_.resize (width, height);</div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160; </div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;  <span class="comment">// filter data</span></div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 1; row_index &lt; height-1; ++row_index)</div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;  {</div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 1; col_index &lt; width-1; ++col_index)</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;    {</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> histogram[9] = {0,0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160; </div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;      {</div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data_ptr = quantized_color_gradients_.getData () + (row_index-1)*width+col_index-1;</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;        assert (data_ptr[0] &lt; 9 &amp;&amp; data_ptr[1] &lt; 9 &amp;&amp; data_ptr[2] &lt; 9);</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;        ++histogram[data_ptr[0]];</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;        ++histogram[data_ptr[1]];</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;        ++histogram[data_ptr[2]];</div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;      }</div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;      {</div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data_ptr = quantized_color_gradients_.getData () + row_index*width+col_index-1;</div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;        assert (data_ptr[0] &lt; 9 &amp;&amp; data_ptr[1] &lt; 9 &amp;&amp; data_ptr[2] &lt; 9);</div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;        ++histogram[data_ptr[0]];</div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;        ++histogram[data_ptr[1]];</div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;        ++histogram[data_ptr[2]];</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;      }</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;      {</div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data_ptr = quantized_color_gradients_.getData () + (row_index+1)*width+col_index-1;</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;        assert (data_ptr[0] &lt; 9 &amp;&amp; data_ptr[1] &lt; 9 &amp;&amp; data_ptr[2] &lt; 9);</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;        ++histogram[data_ptr[0]];</div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;        ++histogram[data_ptr[1]];</div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;        ++histogram[data_ptr[2]];</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;      }</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160; </div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> max_hist_value = 0;</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;      <span class="keywordtype">int</span> max_hist_index = -1;</div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160; </div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;      <span class="comment">// for (int i = 0; i &lt; 8; ++i)</span></div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;      <span class="comment">// {</span></div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;      <span class="comment">//   if (max_hist_value &lt; histogram[i+1])</span></div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;      <span class="comment">//   {</span></div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;      <span class="comment">//     max_hist_index = i;</span></div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;      <span class="comment">//     max_hist_value = histogram[i+1]</span></div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;      <span class="comment">//   }</span></div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;      <span class="comment">// }</span></div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;      <span class="comment">// Unrolled for performance optimization:</span></div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[1]) {max_hist_index = 0; max_hist_value = histogram[1];}</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[2]) {max_hist_index = 1; max_hist_value = histogram[2];}</div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[3]) {max_hist_index = 2; max_hist_value = histogram[3];}</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[4]) {max_hist_index = 3; max_hist_value = histogram[4];}</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[5]) {max_hist_index = 4; max_hist_value = histogram[5];}</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[6]) {max_hist_index = 5; max_hist_value = histogram[6];}</div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[7]) {max_hist_index = 6; max_hist_value = histogram[7];}</div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[8]) {max_hist_index = 7; max_hist_value = histogram[8];}</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160; </div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;      <span class="keywordflow">if</span> (max_hist_index != -1 &amp;&amp; max_hist_value &gt;= 5)</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;        filtered_quantized_color_gradients_ (col_index, row_index) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (0x1 &lt;&lt; max_hist_index);</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;        filtered_quantized_color_gradients_ (col_index, row_index) = 0;</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160; </div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;    }</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;  }</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;}</div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160; </div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l01096"></a><span class="lineno"><a class="line" href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05"> 1096</a></span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">pcl::ColorGradientModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;<a class="code" href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">erode</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">pcl::MaskMap</a> &amp; mask_in, </div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;       <a class="code" href="classpcl_1_1_mask_map.html">pcl::MaskMap</a> &amp; mask_out)</div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;{</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask_in.getWidth ();</div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask_in.getHeight ();</div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160; </div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;  mask_out.resize (width, height);</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160; </div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 1; row_index &lt; height-1; ++row_index)</div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;  {</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 1; col_index &lt; width-1; ++col_index)</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;    {</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;      <span class="keywordflow">if</span> (mask_in (col_index, row_index-1) == 0 ||</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;          mask_in (col_index-1, row_index) == 0 ||</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;          mask_in (col_index+1, row_index) == 0 ||</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;          mask_in (col_index, row_index+1) == 0)</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;      {</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;        mask_out (col_index, row_index) = 0;</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;      }</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;      {</div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;        mask_out (col_index, row_index) = 255;</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;      }</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;    }</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;  }</div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160;}</div>
<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160; </div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a></div><div class="ttdoc">Modality based on max-RGB gradients.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a04ea169328948649471bb07fac02e2dc"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a04ea169328948649471bb07fac02e2dc">pcl::ColorGradientModality::quantized_color_gradients_</a></div><div class="ttdeci">pcl::QuantizedMap quantized_color_gradients_</div><div class="ttdoc">The map which holds the quantized max-RGB gradients.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:264</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a07328b89a5240cb76a7a737039072186"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a07328b89a5240cb76a7a737039072186">pcl::ColorGradientModality::filterQuantizedColorGradients</a></div><div class="ttdeci">void filterQuantizedColorGradients()</div><div class="ttdoc">Filters the quantized gradients.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:1027</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a08a59b078f61a95e1b70e4465e462f16"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a08a59b078f61a95e1b70e4465e462f16">pcl::ColorGradientModality::getMaxColorGradients</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::GradientXY &gt; &amp; getMaxColorGradients()</div><div class="ttdoc">Returns a point cloud containing the max-RGB gradients.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a184fe9770c29550bc24a4f92dee81f0f"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">pcl::ColorGradientModality::gradient_magnitude_threshold_feature_extraction_</a></div><div class="ttdeci">float gradient_magnitude_threshold_feature_extraction_</div><div class="ttdoc">The threshold applied on the gradient magnitudes for feature extraction.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:255</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a1872fffa143dd63e5d79bfbedea1ae05"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">pcl::ColorGradientModality::erode</a></div><div class="ttdeci">static void erode(const pcl::MaskMap &amp;mask_in, pcl::MaskMap &amp;mask_out)</div><div class="ttdoc">Erodes a mask.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:1097</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a1d07cf0a0d8f951d2466e3adf86fd68b"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a1d07cf0a0d8f951d2466e3adf86fd68b">pcl::ColorGradientModality::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a1e19e3726e9278aa81baef0f1ddc5f71"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">pcl::ColorGradientModality::FeatureSelectionMethod</a></div><div class="ttdeci">FeatureSelectionMethod</div><div class="ttdoc">Different methods for feature selection/extraction.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a1fbe75808a0a100d2246341dd8aa7efc"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a1fbe75808a0a100d2246341dd8aa7efc">pcl::ColorGradientModality::setGradientMagnitudeThresholdForFeatureExtraction</a></div><div class="ttdeci">void setGradientMagnitudeThresholdForFeatureExtraction(const float threshold)</div><div class="ttdoc">Sets the threshold for the gradient magnitude which is used for feature extraction....</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a2ae9ed70d01fc772dbab539fe53231a2"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a2ae9ed70d01fc772dbab539fe53231a2">pcl::ColorGradientModality::computeMaxColorGradientsSobel</a></div><div class="ttdeci">void computeMaxColorGradientsSobel(const typename pcl::PointCloud&lt; pcl::RGB &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Computes the max-RGB gradients for the specified cloud using sobel.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:842</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a3378a2de1166930c2768ae433f7c82fa"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a3378a2de1166930c2768ae433f7c82fa">pcl::ColorGradientModality::setVariableFeatureNr</a></div><div class="ttdeci">void setVariableFeatureNr(const bool enabled)</div><div class="ttdoc">Sets whether variable feature numbers for feature extraction is enabled.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a3b51b95df84a62c12bc348dc3485054f"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">pcl::ColorGradientModality::color_gradients_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::GradientXY &gt; color_gradients_</div><div class="ttdoc">The point cloud which holds the max-RGB gradients.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a3fa30ab2cabed142a2e625dd9fc22f97"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a3fa30ab2cabed142a2e625dd9fc22f97">pcl::ColorGradientModality::spreading_size_</a></div><div class="ttdeci">size_t spreading_size_</div><div class="ttdoc">The spreading size.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a46ae330fdc561b3eb3f46800d5136078"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">pcl::ColorGradientModality::feature_selection_method_</a></div><div class="ttdeci">FeatureSelectionMethod feature_selection_method_</div><div class="ttdoc">Defines which feature selection method is used.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a4fb9324525a015909522d5f9303381ac"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a4fb9324525a015909522d5f9303381ac">pcl::ColorGradientModality::computeMaxColorGradients</a></div><div class="ttdeci">void computeMaxColorGradients(const typename pcl::PointCloud&lt; pcl::RGB &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Computes the max-RGB gradients for the specified cloud.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:755</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a500ad5d64ebd401afc02f9f6d12d5143"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">pcl::ColorGradientModality::filtered_quantized_color_gradients_</a></div><div class="ttdeci">pcl::QuantizedMap filtered_quantized_color_gradients_</div><div class="ttdoc">The map which holds the filtered quantized data.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:266</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a52eee3d1e120fad88f4a7b1614ffd6ee"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a52eee3d1e120fad88f4a7b1614ffd6ee">pcl::ColorGradientModality::smoothed_input_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::RGB &gt;::Ptr smoothed_input_</div><div class="ttdoc">Stores a smoothed verion of the input cloud.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:247</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a5be63ae9d79f7b659be40ef3ca3c564d"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a5be63ae9d79f7b659be40ef3ca3c564d">pcl::ColorGradientModality::setFeatureSelectionMethod</a></div><div class="ttdeci">void setFeatureSelectionMethod(const FeatureSelectionMethod method)</div><div class="ttdoc">Sets the feature selection method.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a6fa2e81e46431999e048d1da6716515f"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a6fa2e81e46431999e048d1da6716515f">pcl::ColorGradientModality::processInputDataFromFiltered</a></div><div class="ttdeci">virtual void processInputDataFromFiltered()</div><div class="ttdoc">Processes the input data assuming that everything up to filtering is already done/available (so only ...</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:406</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a742f19ce8a6ae5401a4eb5351a9f54aa"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a742f19ce8a6ae5401a4eb5351a9f54aa">pcl::ColorGradientModality::processInputData</a></div><div class="ttdeci">virtual void processInputData()</div><div class="ttdoc">Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:348</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a80d5a47569d0ee40c39c0e7dd0becbcb"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a80d5a47569d0ee40c39c0e7dd0becbcb">pcl::ColorGradientModality::computeGaussianKernel</a></div><div class="ttdeci">void computeGaussianKernel(const size_t kernel_size, const float sigma, std::vector&lt; float &gt; &amp;kernel_values)</div><div class="ttdoc">Computes the Gaussian kernel used for smoothing.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a8620b1c71fd7578c74ff9cae170cad15"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a8620b1c71fd7578c74ff9cae170cad15">pcl::ColorGradientModality::extractFeatures</a></div><div class="ttdeci">void extractFeatures(const MaskMap &amp;mask, size_t nr_features, size_t modalityIndex, std::vector&lt; QuantizedMultiModFeature &gt; &amp;features) const</div><div class="ttdoc">Extracts features from this modality within the specified mask.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a8dcf287d2f0fe3f032b59502ea881816"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a8dcf287d2f0fe3f032b59502ea881816">pcl::ColorGradientModality::getSpreadedQuantizedMap</a></div><div class="ttdeci">QuantizedMap &amp; getSpreadedQuantizedMap()</div><div class="ttdoc">Returns a reference to the internally computed spreaded quantized map.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a92e6f7f11e4156b904c28c63f62105aa"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a92e6f7f11e4156b904c28c63f62105aa">pcl::ColorGradientModality::~ColorGradientModality</a></div><div class="ttdeci">virtual ~ColorGradientModality()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:294</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a9fb0dbf985fe4d09839f3bf7cd777fdb"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a9fb0dbf985fe4d09839f3bf7cd777fdb">pcl::ColorGradientModality::spreaded_filtered_quantized_color_gradients_</a></div><div class="ttdeci">pcl::QuantizedMap spreaded_filtered_quantized_color_gradients_</div><div class="ttdoc">The map which holds the spreaded quantized data.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_aa708e54642e7f6e6081ac1f55b5e626a"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#aa708e54642e7f6e6081ac1f55b5e626a">pcl::ColorGradientModality::quantizeColorGradients</a></div><div class="ttdeci">void quantizeColorGradients()</div><div class="ttdoc">Quantizes the color gradients.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:964</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_ab3ae6e4b6753cbbc161b4718f62db3e6"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#ab3ae6e4b6753cbbc161b4718f62db3e6">pcl::ColorGradientModality::ColorGradientModality</a></div><div class="ttdeci">ColorGradientModality()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:277</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_abce78cf90b93d706b8f558ccd8ca43c2"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#abce78cf90b93d706b8f558ccd8ca43c2">pcl::ColorGradientModality::setSpreadingSize</a></div><div class="ttdeci">void setSpreadingSize(const size_t spreading_size)</div><div class="ttdoc">Sets the spreading size for spreading the quantized data.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_acf7fdf618931946d67864ee04c9fe259"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#acf7fdf618931946d67864ee04c9fe259">pcl::ColorGradientModality::getQuantizedMap</a></div><div class="ttdeci">QuantizedMap &amp; getQuantizedMap()</div><div class="ttdoc">Returns a reference to the internally computed quantized map.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:147</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_ad5084fb7048c6888856b918a8ab2e7a9"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#ad5084fb7048c6888856b918a8ab2e7a9">pcl::ColorGradientModality::variable_feature_nr_</a></div><div class="ttdeci">bool variable_feature_nr_</div><div class="ttdoc">Determines whether variable numbers of features are extracted or not.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:244</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_af2dc6fed79dee651b61ac5481050d9e9"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#af2dc6fed79dee651b61ac5481050d9e9">pcl::ColorGradientModality::extractAllFeatures</a></div><div class="ttdeci">void extractAllFeatures(const MaskMap &amp;mask, size_t nr_features, size_t modalityIndex, std::vector&lt; QuantizedMultiModFeature &gt; &amp;features) const</div><div class="ttdoc">Extracts all possible features from the modality within the specified mask.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:705</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_afc82fc7d4197f93b02cd4d88576808cb"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#afc82fc7d4197f93b02cd4d88576808cb">pcl::ColorGradientModality::setGradientMagnitudeThreshold</a></div><div class="ttdeci">void setGradientMagnitudeThreshold(const float threshold)</div><div class="ttdoc">Sets the threshold for the gradient magnitude which is used when quantizing the data....</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_aff83039db2c49d7ba2e4a28519aec433"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#aff83039db2c49d7ba2e4a28519aec433">pcl::ColorGradientModality::gradient_magnitude_threshold_</a></div><div class="ttdeci">float gradient_magnitude_threshold_</div><div class="ttdoc">The threshold applied on the gradient magnitudes (for quantization).</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1_mask_map_html"><div class="ttname"><a href="classpcl_1_1_mask_map.html">pcl::MaskMap</a></div><div class="ttdef"><b>Definition:</b> mask_map.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_quantizable_modality_html"><div class="ttname"><a href="classpcl_1_1_quantizable_modality.html">pcl::QuantizableModality</a></div><div class="ttdoc">Interface for a quantizable modality.</div><div class="ttdef"><b>Definition:</b> quantizable_modality.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_quantized_map_html"><div class="ttname"><a href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a></div><div class="ttdef"><b>Definition:</b> quantized_map.h:47</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html">pcl::filters::Convolution</a></div><div class="ttdef"><b>Definition:</b> convolution.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_a16fbbdf38948fed054d2b8b6514ef42d"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#a16fbbdf38948fed054d2b8b6514ef42d">pcl::filters::Convolution::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> convolution.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_aa517e36975cab3ef6dc048552449d1e2"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#aa517e36975cab3ef6dc048552449d1e2">pcl::filters::Convolution::convolve</a></div><div class="ttdeci">void convolve(const Eigen::ArrayXf &amp;h_kernel, const Eigen::ArrayXf &amp;v_kernel, PointCloudOut &amp;output)</div><div class="ttdef"><b>Definition:</b> convolution.hpp:129</div></div>
<div class="ttc" id="aclasspcl_1_1filters_1_1_convolution_html_acd355932b0334275e14ee26a248c15c4"><div class="ttname"><a href="classpcl_1_1filters_1_1_convolution.html#acd355932b0334275e14ee26a248c15c4">pcl::filters::Convolution::setKernel</a></div><div class="ttdeci">void setKernel(const Eigen::ArrayXf &amp;kernel)</div><div class="ttdef"><b>Definition:</b> convolution.h:109</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_color_gradient_modality_1_1_candidate_html"><div class="ttname"><a href="structpcl_1_1_color_gradient_modality_1_1_candidate.html">pcl::ColorGradientModality::Candidate</a></div><div class="ttdoc">Candidate for a feature (used in feature extraction methods).</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:66</div></div>
<div class="ttc" id="astructpcl_1_1_color_gradient_modality_1_1_candidate_html_a5cdf6060aead3a3267e5d5e2001b1e30"><div class="ttname"><a href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a5cdf6060aead3a3267e5d5e2001b1e30">pcl::ColorGradientModality::Candidate::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">The y-position.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:73</div></div>
<div class="ttc" id="astructpcl_1_1_color_gradient_modality_1_1_candidate_html_a6edd951fd511a4641503ac1190312631"><div class="ttname"><a href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a6edd951fd511a4641503ac1190312631">pcl::ColorGradientModality::Candidate::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">The x-position.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:71</div></div>
<div class="ttc" id="astructpcl_1_1_color_gradient_modality_1_1_candidate_html_a70c8edf2855578b5634ace2888e3f2b8"><div class="ttname"><a href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a70c8edf2855578b5634ace2888e3f2b8">pcl::ColorGradientModality::Candidate::gradient</a></div><div class="ttdeci">GradientXY gradient</div><div class="ttdoc">The gradient.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:68</div></div>
<div class="ttc" id="astructpcl_1_1_color_gradient_modality_1_1_candidate_html_a7547904d27ee0b7a0e9f242b37d73148"><div class="ttname"><a href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#a7547904d27ee0b7a0e9f242b37d73148">pcl::ColorGradientModality::Candidate::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Candidate &amp;rhs) const</div><div class="ttdoc">Operator for comparing to candidates (by magnitude of the gradient).</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:78</div></div>
<div class="ttc" id="astructpcl_1_1_gradient_x_y_html"><div class="ttname"><a href="structpcl_1_1_gradient_x_y.html">pcl::GradientXY</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the intensity value.</div><div class="ttdef"><b>Definition:</b> point_types.h:52</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html">pcl::QuantizedMultiModFeature</a></div><div class="ttdoc">Feature that defines a position and quantized value in a specific modality.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:52</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_a4738f0df69322f7d10ff08ea9f78436f"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">pcl::QuantizedMultiModFeature::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">x-position.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:57</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_aaa0d24e187cac516ee374d8aeda17a6e"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">pcl::QuantizedMultiModFeature::quantized_value</a></div><div class="ttdeci">unsigned char quantized_value</div><div class="ttdoc">the quantized value attached to the feature.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_ac64b7a232a4526c6f67b4ae6195d4149"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">pcl::QuantizedMultiModFeature::modality_index</a></div><div class="ttdeci">size_t modality_index</div><div class="ttdoc">the index of the corresponding modality.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:61</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_accb11ae888160446c94d0b30aafd222e"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">pcl::QuantizedMultiModFeature::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">y-position.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
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